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<div class="title">optimization_algorithm_dogleg.h</div>  </div>
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<a href="optimization__algorithm__dogleg_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// g2o - General Graph Optimization</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">// All rights reserved.</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment">// Redistribution and use in source and binary forms, with or without</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment">// modification, are permitted provided that the following conditions are</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">// met:</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment">// * Redistributions of source code must retain the above copyright notice,</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment">//   this list of conditions and the following disclaimer.</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment">// * Redistributions in binary form must reproduce the above copyright</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment">//   notice, this list of conditions and the following disclaimer in the</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment">//   documentation and/or other materials provided with the distribution.</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment">// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS &quot;AS</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment">// IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment">// TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment">// PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment">// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,</span></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment">// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment">// TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment">// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment">// LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING</span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment">// NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS</span></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment">// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="preprocessor">#ifndef G2O_OPTIMIZATION_ALGORITHM_DOGLEG_H</span></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="preprocessor">#define G2O_OPTIMIZATION_ALGORITHM_DOGLEG_H</span></div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="optimization__algorithm__with__hessian_8h.html">optimization_algorithm_with_hessian.h</a>&quot;</span></div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceg2o.html">g2o</a> {</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;  <span class="keyword">class </span>BlockSolverBase;</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;</div><div class="line"><a name="l00039"></a><span class="lineno"><a class="line" href="classg2o_1_1_optimization_algorithm_dogleg.html">   39</a></span>&#160;  <span class="keyword">class  </span><a class="code" href="classg2o_1_1_optimization_algorithm_dogleg.html">OptimizationAlgorithmDogleg</a> : <span class="keyword">public</span> <a class="code" href="classg2o_1_1_optimization_algorithm_with_hessian.html">OptimizationAlgorithmWithHessian</a></div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;  {</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;    <span class="keyword">public</span>:</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;      <span class="keyword">enum</span> {</div><div class="line"><a name="l00044"></a><span class="lineno"><a class="line" href="classg2o_1_1_optimization_algorithm_dogleg.html#a431b0b88011685955381bdeb68bb5390ae098265840915f1d6877b4e27fbec1d8">   44</a></span>&#160;        <a class="code" href="classg2o_1_1_optimization_algorithm_dogleg.html#a431b0b88011685955381bdeb68bb5390ae098265840915f1d6877b4e27fbec1d8">STEP_UNDEFINED</a>,</div><div class="line"><a name="l00045"></a><span class="lineno"><a class="line" href="classg2o_1_1_optimization_algorithm_dogleg.html#a431b0b88011685955381bdeb68bb5390a02cb99985ea3c35b57591e6c55f5e037">   45</a></span>&#160;        <a class="code" href="classg2o_1_1_optimization_algorithm_dogleg.html#a431b0b88011685955381bdeb68bb5390a02cb99985ea3c35b57591e6c55f5e037">STEP_SD</a>, <a class="code" href="classg2o_1_1_optimization_algorithm_dogleg.html#a431b0b88011685955381bdeb68bb5390a27f521fdfb791c330af5e59dd989507d">STEP_GN</a>, <a class="code" href="classg2o_1_1_optimization_algorithm_dogleg.html#a431b0b88011685955381bdeb68bb5390a1bc0276b59002bc8892ea9fc39348d1d">STEP_DL</a></div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;      };</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;    <span class="keyword">public</span>:</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;      <span class="keyword">explicit</span> <a class="code" href="classg2o_1_1_optimization_algorithm_dogleg.html#ab332f8fb049d1a1fecba18105083052a">OptimizationAlgorithmDogleg</a>(<a class="code" href="classg2o_1_1_block_solver_base.html">BlockSolverBase</a>* <a class="code" href="classg2o_1_1_optimization_algorithm_with_hessian.html#a85473a4073c76b1a52cf9cf175e31c45">solver</a>);</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;      <span class="keyword">virtual</span> <a class="code" href="classg2o_1_1_optimization_algorithm_dogleg.html#ac5ebd46eeca170f6a923c75556504d2b">~OptimizationAlgorithmDogleg</a>();</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;      <span class="keyword">virtual</span> <a class="code" href="classg2o_1_1_optimization_algorithm.html#a705d58d7bc19528a8ab718570d090cdf">SolverResult</a> <a class="code" href="classg2o_1_1_optimization_algorithm_dogleg.html#ace62fd809c18655bd7ff104285748610">solve</a>(<span class="keywordtype">int</span> iteration, <span class="keywordtype">bool</span> online = <span class="keyword">false</span>);</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classg2o_1_1_optimization_algorithm_dogleg.html#a48f424443a7b2b6e8c532204cd7334cd">printVerbose</a>(std::ostream&amp; os) <span class="keyword">const</span>;</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;</div><div class="line"><a name="l00061"></a><span class="lineno"><a class="line" href="classg2o_1_1_optimization_algorithm_dogleg.html#a0ca98964e7bcde0c893eb9d720a26fd1">   61</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="classg2o_1_1_optimization_algorithm_dogleg.html#a0ca98964e7bcde0c893eb9d720a26fd1">lastStep</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <a class="code" href="classg2o_1_1_optimization_algorithm_dogleg.html#a3bf898af0087c0ed8287d0cd13e4c943">_lastStep</a>;}</div><div class="line"><a name="l00063"></a><span class="lineno"><a class="line" href="classg2o_1_1_optimization_algorithm_dogleg.html#a3c6fdb2f8296330fd754d635a67b3696">   63</a></span>&#160; 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     <span class="comment">// parameters</span></div><div class="line"><a name="l00070"></a><span class="lineno"><a class="line" href="classg2o_1_1_optimization_algorithm_dogleg.html#a5993c68e69cd037b1420b4addf9f7e50">   70</a></span>&#160;      <a class="code" href="classg2o_1_1_property.html">Property&lt;int&gt;</a>* <a class="code" href="classg2o_1_1_optimization_algorithm_dogleg.html#a5993c68e69cd037b1420b4addf9f7e50">_maxTrialsAfterFailure</a>;</div><div class="line"><a name="l00071"></a><span class="lineno"><a class="line" href="classg2o_1_1_optimization_algorithm_dogleg.html#ae77ffaea89872affeb61f122f20efeb9">   71</a></span>&#160;      <a class="code" href="classg2o_1_1_property.html">Property&lt;double&gt;</a>* <a class="code" href="classg2o_1_1_optimization_algorithm_dogleg.html#ae77ffaea89872affeb61f122f20efeb9">_userDeltaInit</a>;</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;      <span class="comment">// damping to enforce positive definite matrix</span></div><div class="line"><a name="l00073"></a><span class="lineno"><a class="line" href="classg2o_1_1_optimization_algorithm_dogleg.html#a3a94c7696f07e3def38ec96a1979babd">   73</a></span>&#160;      <a class="code" href="classg2o_1_1_property.html">Property&lt;double&gt;</a>* <a class="code" href="classg2o_1_1_optimization_algorithm_dogleg.html#a3a94c7696f07e3def38ec96a1979babd">_initialLambda</a>;</div><div class="line"><a name="l00074"></a><span class="lineno"><a class="line" href="classg2o_1_1_optimization_algorithm_dogleg.html#a6855a511dc998efef7eaa0ef99e1b814">   74</a></span>&#160;      <a class="code" href="classg2o_1_1_property.html">Property&lt;double&gt;</a>* <a class="code" href="classg2o_1_1_optimization_algorithm_dogleg.html#a6855a511dc998efef7eaa0ef99e1b814">_lamdbaFactor</a>;</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;</div><div class="line"><a name="l00076"></a><span class="lineno"><a class="line" href="classg2o_1_1_optimization_algorithm_dogleg.html#a8f4ee408fbf3999063d094cf61e852b7">   76</a></span>&#160;      Eigen::VectorXd <a class="code" href="classg2o_1_1_optimization_algorithm_dogleg.html#a8f4ee408fbf3999063d094cf61e852b7">_hsd</a>;         </div><div class="line"><a name="l00077"></a><span class="lineno"><a class="line" href="classg2o_1_1_optimization_algorithm_dogleg.html#aaf433c824153a7bd76b27690eb53113b">   77</a></span>&#160;      Eigen::VectorXd <a class="code" href="classg2o_1_1_optimization_algorithm_dogleg.html#aaf433c824153a7bd76b27690eb53113b">_hdl</a>;         </div><div class="line"><a name="l00078"></a><span class="lineno"><a class="line" href="classg2o_1_1_optimization_algorithm_dogleg.html#a225092fe67ce75eb64011c1f45d8d936">   78</a></span>&#160;      Eigen::VectorXd <a class="code" href="classg2o_1_1_optimization_algorithm_dogleg.html#a225092fe67ce75eb64011c1f45d8d936">_auxVector</a>;   </div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;</div><div class="line"><a name="l00080"></a><span class="lineno"><a class="line" href="classg2o_1_1_optimization_algorithm_dogleg.html#aacc051a6740fc6017dac7c424dc7df3d">   80</a></span>&#160;      <span class="keywordtype">double</span> <a class="code" href="classg2o_1_1_optimization_algorithm_dogleg.html#aacc051a6740fc6017dac7c424dc7df3d">_currentLambda</a>; 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<div class="ttc" id="classg2o_1_1_optimization_algorithm_dogleg_html_ace62fd809c18655bd7ff104285748610"><div class="ttname"><a href="classg2o_1_1_optimization_algorithm_dogleg.html#ace62fd809c18655bd7ff104285748610">g2o::OptimizationAlgorithmDogleg::solve</a></div><div class="ttdeci">virtual SolverResult solve(int iteration, bool online=false)</div><div class="ttdoc">Solve one iteration. </div><div class="ttdef"><b>Definition:</b> optimization_algorithm_dogleg.cpp:57</div></div>
<div class="ttc" id="classg2o_1_1_optimization_algorithm_dogleg_html_a8f4ee408fbf3999063d094cf61e852b7"><div class="ttname"><a href="classg2o_1_1_optimization_algorithm_dogleg.html#a8f4ee408fbf3999063d094cf61e852b7">g2o::OptimizationAlgorithmDogleg::_hsd</a></div><div class="ttdeci">Eigen::VectorXd _hsd</div><div class="ttdoc">steepest decent step </div><div class="ttdef"><b>Definition:</b> optimization_algorithm_dogleg.h:76</div></div>
<div class="ttc" id="classg2o_1_1_optimization_algorithm_dogleg_html"><div class="ttname"><a href="classg2o_1_1_optimization_algorithm_dogleg.html">g2o::OptimizationAlgorithmDogleg</a></div><div class="ttdoc">Implementation of Powell&amp;#39;s Dogleg Algorithm. </div><div class="ttdef"><b>Definition:</b> optimization_algorithm_dogleg.h:39</div></div>
<div class="ttc" id="classg2o_1_1_optimization_algorithm_with_hessian_html"><div class="ttname"><a href="classg2o_1_1_optimization_algorithm_with_hessian.html">g2o::OptimizationAlgorithmWithHessian</a></div><div class="ttdoc">Base for solvers operating on the approximated Hessian, e.g., Gauss-Newton, Levenberg. </div><div class="ttdef"><b>Definition:</b> optimization_algorithm_with_hessian.h:39</div></div>
<div class="ttc" id="classg2o_1_1_optimization_algorithm_dogleg_html_a0ca98964e7bcde0c893eb9d720a26fd1"><div class="ttname"><a href="classg2o_1_1_optimization_algorithm_dogleg.html#a0ca98964e7bcde0c893eb9d720a26fd1">g2o::OptimizationAlgorithmDogleg::lastStep</a></div><div class="ttdeci">int lastStep() const</div><div class="ttdoc">return the type of the last step taken by the algorithm </div><div class="ttdef"><b>Definition:</b> optimization_algorithm_dogleg.h:61</div></div>
<div class="ttc" id="classg2o_1_1_optimization_algorithm_dogleg_html_a5993c68e69cd037b1420b4addf9f7e50"><div class="ttname"><a href="classg2o_1_1_optimization_algorithm_dogleg.html#a5993c68e69cd037b1420b4addf9f7e50">g2o::OptimizationAlgorithmDogleg::_maxTrialsAfterFailure</a></div><div class="ttdeci">Property&lt; int &gt; * _maxTrialsAfterFailure</div><div class="ttdef"><b>Definition:</b> optimization_algorithm_dogleg.h:70</div></div>
<div class="ttc" id="classg2o_1_1_optimization_algorithm_dogleg_html_a65f193c6451ffcd2bd6fd8f8d19e2a12"><div class="ttname"><a href="classg2o_1_1_optimization_algorithm_dogleg.html#a65f193c6451ffcd2bd6fd8f8d19e2a12">g2o::OptimizationAlgorithmDogleg::stepType2Str</a></div><div class="ttdeci">static const char * stepType2Str(int stepType)</div><div class="ttdoc">convert the type into an integer </div><div class="ttdef"><b>Definition:</b> optimization_algorithm_dogleg.cpp:219</div></div>
<div class="ttc" id="classg2o_1_1_optimization_algorithm_dogleg_html_aaf433c824153a7bd76b27690eb53113b"><div class="ttname"><a href="classg2o_1_1_optimization_algorithm_dogleg.html#aaf433c824153a7bd76b27690eb53113b">g2o::OptimizationAlgorithmDogleg::_hdl</a></div><div class="ttdeci">Eigen::VectorXd _hdl</div><div class="ttdoc">final dogleg step </div><div class="ttdef"><b>Definition:</b> optimization_algorithm_dogleg.h:77</div></div>
<div class="ttc" id="classg2o_1_1_optimization_algorithm_dogleg_html_ac5ebd46eeca170f6a923c75556504d2b"><div class="ttname"><a href="classg2o_1_1_optimization_algorithm_dogleg.html#ac5ebd46eeca170f6a923c75556504d2b">g2o::OptimizationAlgorithmDogleg::~OptimizationAlgorithmDogleg</a></div><div class="ttdeci">virtual ~OptimizationAlgorithmDogleg()</div><div class="ttdef"><b>Definition:</b> optimization_algorithm_dogleg.cpp:53</div></div>
<div class="ttc" id="classg2o_1_1_optimization_algorithm_dogleg_html_a3bf898af0087c0ed8287d0cd13e4c943"><div class="ttname"><a href="classg2o_1_1_optimization_algorithm_dogleg.html#a3bf898af0087c0ed8287d0cd13e4c943">g2o::OptimizationAlgorithmDogleg::_lastStep</a></div><div class="ttdeci">int _lastStep</div><div class="ttdoc">type of the step taken by the algorithm </div><div class="ttdef"><b>Definition:</b> optimization_algorithm_dogleg.h:82</div></div>
<div class="ttc" id="classg2o_1_1_optimization_algorithm_dogleg_html_a48f424443a7b2b6e8c532204cd7334cd"><div class="ttname"><a href="classg2o_1_1_optimization_algorithm_dogleg.html#a48f424443a7b2b6e8c532204cd7334cd">g2o::OptimizationAlgorithmDogleg::printVerbose</a></div><div class="ttdeci">virtual void printVerbose(std::ostream &amp;os) const</div><div class="ttdoc">called by the optimizer if verbose. </div><div class="ttdef"><b>Definition:</b> optimization_algorithm_dogleg.cpp:209</div></div>
<div class="ttc" id="classg2o_1_1_optimization_algorithm_dogleg_html_ae77ffaea89872affeb61f122f20efeb9"><div class="ttname"><a href="classg2o_1_1_optimization_algorithm_dogleg.html#ae77ffaea89872affeb61f122f20efeb9">g2o::OptimizationAlgorithmDogleg::_userDeltaInit</a></div><div class="ttdeci">Property&lt; double &gt; * _userDeltaInit</div><div class="ttdef"><b>Definition:</b> optimization_algorithm_dogleg.h:71</div></div>
<div class="ttc" id="classg2o_1_1_optimization_algorithm_dogleg_html_af921ebbebaf059f73e410fc751616ec2"><div class="ttname"><a href="classg2o_1_1_optimization_algorithm_dogleg.html#af921ebbebaf059f73e410fc751616ec2">g2o::OptimizationAlgorithmDogleg::_wasPDInAllIterations</a></div><div class="ttdeci">bool _wasPDInAllIterations</div><div class="ttdoc">the matrix we solve was positive definite in all iterations -&gt; if not apply damping ...</div><div class="ttdef"><b>Definition:</b> optimization_algorithm_dogleg.h:83</div></div>
<div class="ttc" id="classg2o_1_1_block_solver_base_html"><div class="ttname"><a href="classg2o_1_1_block_solver_base.html">g2o::BlockSolverBase</a></div><div class="ttdoc">base for the block solvers with some basic function interfaces </div><div class="ttdef"><b>Definition:</b> block_solver.h:83</div></div>
<div class="ttc" id="classg2o_1_1_optimization_algorithm_dogleg_html_aeab37f3f587dc8b37b5a42d36fd8217c"><div class="ttname"><a href="classg2o_1_1_optimization_algorithm_dogleg.html#aeab37f3f587dc8b37b5a42d36fd8217c">g2o::OptimizationAlgorithmDogleg::_lastNumTries</a></div><div class="ttdeci">int _lastNumTries</div><div class="ttdef"><b>Definition:</b> optimization_algorithm_dogleg.h:84</div></div>
<div class="ttc" id="classg2o_1_1_optimization_algorithm_dogleg_html_a6855a511dc998efef7eaa0ef99e1b814"><div class="ttname"><a href="classg2o_1_1_optimization_algorithm_dogleg.html#a6855a511dc998efef7eaa0ef99e1b814">g2o::OptimizationAlgorithmDogleg::_lamdbaFactor</a></div><div class="ttdeci">Property&lt; double &gt; * _lamdbaFactor</div><div class="ttdef"><b>Definition:</b> optimization_algorithm_dogleg.h:74</div></div>
<div class="ttc" id="classg2o_1_1_optimization_algorithm_dogleg_html_ab332f8fb049d1a1fecba18105083052a"><div class="ttname"><a href="classg2o_1_1_optimization_algorithm_dogleg.html#ab332f8fb049d1a1fecba18105083052a">g2o::OptimizationAlgorithmDogleg::OptimizationAlgorithmDogleg</a></div><div class="ttdeci">OptimizationAlgorithmDogleg(BlockSolverBase *solver)</div><div class="ttdoc">construct the Dogleg algorithm, which will use the given Solver for solving the linearized system...</div><div class="ttdef"><b>Definition:</b> optimization_algorithm_dogleg.cpp:41</div></div>
<div class="ttc" id="namespaceg2o_html"><div class="ttname"><a href="namespaceg2o.html">g2o</a></div><div class="ttdef"><b>Definition:</b> base_binary_edge.h:37</div></div>
<div class="ttc" id="classg2o_1_1_optimization_algorithm_html_a705d58d7bc19528a8ab718570d090cdf"><div class="ttname"><a href="classg2o_1_1_optimization_algorithm.html#a705d58d7bc19528a8ab718570d090cdf">g2o::OptimizationAlgorithm::SolverResult</a></div><div class="ttdeci">SolverResult</div><div class="ttdef"><b>Definition:</b> optimization_algorithm.h:49</div></div>
<div class="ttc" id="optimization__algorithm__with__hessian_8h_html"><div class="ttname"><a href="optimization__algorithm__with__hessian_8h.html">optimization_algorithm_with_hessian.h</a></div></div>
<div class="ttc" id="classg2o_1_1_optimization_algorithm_dogleg_html_aacc051a6740fc6017dac7c424dc7df3d"><div class="ttname"><a href="classg2o_1_1_optimization_algorithm_dogleg.html#aacc051a6740fc6017dac7c424dc7df3d">g2o::OptimizationAlgorithmDogleg::_currentLambda</a></div><div class="ttdeci">double _currentLambda</div><div class="ttdoc">the damping factor to force positive definite matrix </div><div class="ttdef"><b>Definition:</b> optimization_algorithm_dogleg.h:80</div></div>
<div class="ttc" id="classg2o_1_1_optimization_algorithm_dogleg_html_a3c6fdb2f8296330fd754d635a67b3696"><div class="ttname"><a href="classg2o_1_1_optimization_algorithm_dogleg.html#a3c6fdb2f8296330fd754d635a67b3696">g2o::OptimizationAlgorithmDogleg::trustRegion</a></div><div class="ttdeci">double trustRegion() const</div><div class="ttdoc">return the diameter of the trust region </div><div class="ttdef"><b>Definition:</b> optimization_algorithm_dogleg.h:63</div></div>
<div class="ttc" id="classg2o_1_1_optimization_algorithm_with_hessian_html_a85473a4073c76b1a52cf9cf175e31c45"><div class="ttname"><a href="classg2o_1_1_optimization_algorithm_with_hessian.html#a85473a4073c76b1a52cf9cf175e31c45">g2o::OptimizationAlgorithmWithHessian::solver</a></div><div class="ttdeci">Solver * solver()</div><div class="ttdoc">return the underlying solver used to solve the linear system </div><div class="ttdef"><b>Definition:</b> optimization_algorithm_with_hessian.h:56</div></div>
<div class="ttc" id="classg2o_1_1_optimization_algorithm_dogleg_html_a431b0b88011685955381bdeb68bb5390a02cb99985ea3c35b57591e6c55f5e037"><div class="ttname"><a href="classg2o_1_1_optimization_algorithm_dogleg.html#a431b0b88011685955381bdeb68bb5390a02cb99985ea3c35b57591e6c55f5e037">g2o::OptimizationAlgorithmDogleg::STEP_SD</a></div><div class="ttdef"><b>Definition:</b> optimization_algorithm_dogleg.h:45</div></div>
<div class="ttc" id="classg2o_1_1_optimization_algorithm_dogleg_html_a431b0b88011685955381bdeb68bb5390ae098265840915f1d6877b4e27fbec1d8"><div class="ttname"><a href="classg2o_1_1_optimization_algorithm_dogleg.html#a431b0b88011685955381bdeb68bb5390ae098265840915f1d6877b4e27fbec1d8">g2o::OptimizationAlgorithmDogleg::STEP_UNDEFINED</a></div><div class="ttdef"><b>Definition:</b> optimization_algorithm_dogleg.h:44</div></div>
<div class="ttc" id="classg2o_1_1_optimization_algorithm_dogleg_html_a431b0b88011685955381bdeb68bb5390a27f521fdfb791c330af5e59dd989507d"><div class="ttname"><a href="classg2o_1_1_optimization_algorithm_dogleg.html#a431b0b88011685955381bdeb68bb5390a27f521fdfb791c330af5e59dd989507d">g2o::OptimizationAlgorithmDogleg::STEP_GN</a></div><div class="ttdef"><b>Definition:</b> optimization_algorithm_dogleg.h:45</div></div>
<div class="ttc" id="classg2o_1_1_optimization_algorithm_dogleg_html_a3484b12efddd9fc0051100634effecd6"><div class="ttname"><a href="classg2o_1_1_optimization_algorithm_dogleg.html#a3484b12efddd9fc0051100634effecd6">g2o::OptimizationAlgorithmDogleg::_delta</a></div><div class="ttdeci">double _delta</div><div class="ttdoc">trust region </div><div class="ttdef"><b>Definition:</b> optimization_algorithm_dogleg.h:81</div></div>
<div class="ttc" id="classg2o_1_1_optimization_algorithm_dogleg_html_a431b0b88011685955381bdeb68bb5390a1bc0276b59002bc8892ea9fc39348d1d"><div class="ttname"><a href="classg2o_1_1_optimization_algorithm_dogleg.html#a431b0b88011685955381bdeb68bb5390a1bc0276b59002bc8892ea9fc39348d1d">g2o::OptimizationAlgorithmDogleg::STEP_DL</a></div><div class="ttdef"><b>Definition:</b> optimization_algorithm_dogleg.h:45</div></div>
<div class="ttc" id="classg2o_1_1_property_html"><div class="ttname"><a href="classg2o_1_1_property.html">g2o::Property&lt; int &gt;</a></div></div>
<div class="ttc" id="classg2o_1_1_optimization_algorithm_dogleg_html_a3a94c7696f07e3def38ec96a1979babd"><div class="ttname"><a href="classg2o_1_1_optimization_algorithm_dogleg.html#a3a94c7696f07e3def38ec96a1979babd">g2o::OptimizationAlgorithmDogleg::_initialLambda</a></div><div class="ttdeci">Property&lt; double &gt; * _initialLambda</div><div class="ttdef"><b>Definition:</b> optimization_algorithm_dogleg.h:73</div></div>
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